/****************************************************************************** * * $Id$ * * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH * * This file is part of the IgH EtherCAT Master. * * The IgH EtherCAT Master is free software; you can redistribute it * and/or modify it under the terms of the GNU General Public License * as published by the Free Software Foundation; either version 2 of the * License, or (at your option) any later version. * * The IgH EtherCAT Master is distributed in the hope that it will be * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU General Public License for more details. * * You should have received a copy of the GNU General Public License * along with the IgH EtherCAT Master; if not, write to the Free Software * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA * * The right to use EtherCAT Technology is granted and comes free of * charge under condition of compatibility of product made by * Licensee. People intending to distribute/sell products based on the * code, have to sign an agreement to guarantee that products using * software based on IgH EtherCAT master stay compatible with the actual * EtherCAT specification (which are released themselves as an open * standard) as the (only) precondition to have the right to use EtherCAT * Technology, IP and trade marks. * *****************************************************************************/ /** \file EtherCAT stave structure. */ /*****************************************************************************/ #ifndef _EC_SLAVE_H_ #define _EC_SLAVE_H_ #include #include #include "globals.h" #include "datagram.h" #include "types.h" /*****************************************************************************/ /** State of an EtherCAT slave. */ typedef enum { EC_SLAVE_STATE_UNKNOWN = 0x00, /**< unknown state */ EC_SLAVE_STATE_INIT = 0x01, /**< INIT state (no mailbox communication, no IO) */ EC_SLAVE_STATE_PREOP = 0x02, /**< PREOP state (mailbox communication, no IO) */ EC_SLAVE_STATE_SAVEOP = 0x04, /**< SAVEOP (mailbox communication and input update) */ EC_SLAVE_STATE_OP = 0x08, /**< OP (mailbox communication and input/output update) */ EC_ACK = 0x10 /**< Acknoledge bit (no state) */ } ec_slave_state_t; /*****************************************************************************/ /** Supported mailbox protocols. */ enum { EC_MBOX_AOE = 0x01, /**< ADS-over-EtherCAT */ EC_MBOX_EOE = 0x02, /**< Ethernet-over-EtherCAT */ EC_MBOX_COE = 0x04, /**< CANopen-over-EtherCAT */ EC_MBOX_FOE = 0x08, /**< File-Access-over-EtherCAT */ EC_MBOX_SOE = 0x10, /**< Servo-Profile-over-EtherCAT */ EC_MBOX_VOE = 0x20 /**< Vendor specific */ }; /*****************************************************************************/ /** FMMU configuration. */ typedef struct { const ec_domain_t *domain; /**< domain */ const ec_sync_t *sync; /**< sync manager */ uint32_t logical_start_address; /**< logical start address */ } ec_fmmu_t; /*****************************************************************************/ /** String object (EEPROM). */ typedef struct { struct list_head list; /**< list item */ size_t size; /**< size in bytes */ char *data; /**< string data */ } ec_eeprom_string_t; /*****************************************************************************/ /** Sync manager configuration (EEPROM). */ typedef struct { struct list_head list; /**< list item */ unsigned int index; /**< sync manager index */ uint16_t physical_start_address; /**< physical start address */ uint16_t length; /**< data length in bytes */ uint8_t control_register; /**< control register value */ uint8_t enable; /**< enable bit */ } ec_eeprom_sync_t; /*****************************************************************************/ /** PDO type. */ typedef enum { EC_RX_PDO, /**< Reveive PDO */ EC_TX_PDO /**< Transmit PDO */ } ec_pdo_type_t; /*****************************************************************************/ /** PDO description (EEPROM). */ typedef struct { struct list_head list; /**< list item */ ec_pdo_type_t type; /**< PDO type */ uint16_t index; /**< PDO index */ uint8_t sync_manager; /**< assigned sync manager */ char *name; /**< PDO name */ struct list_head entries; /**< entry list */ } ec_eeprom_pdo_t; /*****************************************************************************/ /** PDO entry description (EEPROM). */ typedef struct { struct list_head list; /**< list item */ uint16_t index; /**< PDO index */ uint8_t subindex; /**< entry subindex */ char *name; /**< entry name */ uint8_t bit_length; /**< entry length in bit */ } ec_eeprom_pdo_entry_t; /*****************************************************************************/ /** CANopen SDO. */ typedef struct { struct list_head list; /**< list item */ uint16_t index; /**< SDO index */ //uint16_t type; uint8_t object_code; /**< object code */ char *name; /**< SDO name */ struct list_head entries; /**< entry list */ } ec_sdo_t; /*****************************************************************************/ /** CANopen SDO entry. */ typedef struct { struct list_head list; /**< list item */ uint8_t subindex; /**< entry subindex */ uint16_t data_type; /**< entry data type */ uint16_t bit_length; /**< entry length in bit */ char *name; /**< entry name */ } ec_sdo_entry_t; /*****************************************************************************/ /** Variable-sized field information. */ typedef struct { struct list_head list; /**< list item */ const ec_field_t *field; /**< data field */ size_t size; /**< field size */ } ec_varsize_t; /*****************************************************************************/ /** EtherCAT slave. */ struct ec_slave { struct list_head list; /**< list item */ struct kobject kobj; /**< kobject */ ec_master_t *master; /**< master owning the slave */ // addresses uint16_t ring_position; /**< ring position */ uint16_t station_address; /**< configured station address */ uint16_t coupler_index; /**< index of the last bus coupler */ uint16_t coupler_subindex; /**< index of this slave after last coupler */ // base data uint8_t base_type; /**< slave type */ uint8_t base_revision; /**< revision */ uint16_t base_build; /**< build number */ uint16_t base_fmmu_count; /**< number of supported FMMUs */ uint16_t base_sync_count; /**< number of supported sync managers */ // data link status uint8_t dl_link[4]; /**< link detected */ uint8_t dl_loop[4]; /**< loop closed */ uint8_t dl_signal[4]; /**< detected signal on RX port */ // slave information interface uint16_t sii_alias; /**< configured station alias */ uint32_t sii_vendor_id; /**< vendor id */ uint32_t sii_product_code; /**< vendor's product code */ uint32_t sii_revision_number; /**< revision number */ uint32_t sii_serial_number; /**< serial number */ uint16_t sii_rx_mailbox_offset; /**< mailbox address (master to slave) */ uint16_t sii_rx_mailbox_size; /**< mailbox size (master to slave) */ uint16_t sii_tx_mailbox_offset; /**< mailbox address (slave to master) */ uint16_t sii_tx_mailbox_size; /**< mailbox size (slave to master) */ uint16_t sii_mailbox_protocols; /**< supported mailbox protocols */ uint8_t sii_physical_layer[4]; /**< port media */ const ec_slave_type_t *type; /**< pointer to slave type object */ uint8_t registered; /**< true, if slave has been registered */ ec_fmmu_t fmmus[EC_MAX_FMMUS]; /**< FMMU configurations */ uint8_t fmmu_count; /**< number of FMMUs used */ uint8_t *eeprom_data; /**< Complete EEPROM image */ uint16_t eeprom_size; /**< size of the EEPROM contents in byte */ struct list_head eeprom_strings; /**< EEPROM STRING categories */ struct list_head eeprom_syncs; /**< EEPROM SYNC MANAGER categories */ struct list_head eeprom_pdos; /**< EEPROM [RT]XPDO categories */ char *eeprom_group; /**< slave group acc. to EEPROM */ char *eeprom_image; /**< slave image name acc. to EEPROM */ char *eeprom_order; /**< slave order number acc. to EEPROM */ char *eeprom_name; /**< slave name acc. to EEPROM */ uint16_t *new_eeprom_data; /**< new EEPROM data to write */ size_t new_eeprom_size; /**< size of new EEPROM data in words */ struct list_head sdo_dictionary; /**< SDO directory list */ ec_slave_state_t requested_state; /**< requested slave state */ ec_slave_state_t current_state; /**< current slave state */ unsigned int error_flag; /**< stop processing after an error */ unsigned int online; /**< non-zero, if the slave responds. */ struct list_head varsize_fields; /**< size information for variable-sized data fields. */ }; /*****************************************************************************/ // slave construction/destruction int ec_slave_init(ec_slave_t *, ec_master_t *, uint16_t, uint16_t); void ec_slave_clear(struct kobject *); // slave control int ec_slave_fetch(ec_slave_t *); int ec_slave_sii_read16(ec_slave_t *, uint16_t, uint16_t *); int ec_slave_sii_read32(ec_slave_t *, uint16_t, uint32_t *); int ec_slave_sii_write16(ec_slave_t *, uint16_t, uint16_t); int ec_slave_state_change(ec_slave_t *, uint8_t); int ec_slave_prepare_fmmu(ec_slave_t *, const ec_domain_t *, const ec_sync_t *); // CoE int ec_slave_fetch_sdo_list(ec_slave_t *); // state machine int ec_slave_fetch_strings(ec_slave_t *, const uint8_t *); int ec_slave_fetch_general(ec_slave_t *, const uint8_t *); int ec_slave_fetch_sync(ec_slave_t *, const uint8_t *, size_t); int ec_slave_fetch_pdo(ec_slave_t *, const uint8_t *, size_t, ec_pdo_type_t); int ec_slave_locate_string(ec_slave_t *, unsigned int, char **); // misc. size_t ec_slave_calc_sync_size(const ec_slave_t *, const ec_sync_t *); uint16_t ec_slave_calc_eeprom_sync_size(const ec_slave_t *, const ec_eeprom_sync_t *); void ec_slave_print(const ec_slave_t *, unsigned int); int ec_slave_check_crc(ec_slave_t *); /*****************************************************************************/ #endif